CN213893914U - Novel four-way shuttle - Google Patents
Novel four-way shuttle Download PDFInfo
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- CN213893914U CN213893914U CN202022457966.1U CN202022457966U CN213893914U CN 213893914 U CN213893914 U CN 213893914U CN 202022457966 U CN202022457966 U CN 202022457966U CN 213893914 U CN213893914 U CN 213893914U
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Abstract
A novel four-way shuttle comprises a shuttle body, a control system, a driving device, a reversing device, a telescopic fork device and a battery component; the control system comprises a master controller, an RFID reader-writer, a wireless communication module and a singlechip; the driving device comprises a first driving unit and a second driving unit; the reversing device comprises an X-axis driving wheel, a Y-axis driving wheel and a hydraulic lifting oil cylinder for controlling the lifting of the X-axis driving wheel or the Y-axis driving wheel; the telescopic fork device comprises an objective table, a telescopic fork and a telescopic fork motor. The utility model discloses a make X axle drive wheel or Y axle drive wheel go up and down, change the direction of motion of quadriversal shuttle, realize the lane change of quadriversal shuttle, make the quadriversal shuttle can be in X axle, the nimble motion of Y axle direction, its can the efficient realize stereoscopic warehouse's goods warehouse entry, flow such as storage, ex-warehouse, reduced the cost of labor in the very big degree.
Description
Technical Field
The utility model relates to a commodity circulation automatic machine field especially relates to a novel quadriversal shuttle.
Background
The shuttle car is a common device in modern warehouse logistics technology, and mainly comprises a device which is fixed on a track in a reciprocating or returning mode and moves goods to a specified position. The shuttle car generally can be equipped with intelligent control and induction system, has the function of automatic deceleration and can remember the initial position automatically, and the goods handling equipment that stereoscopic warehouse used usually in the existing market is the four-way shuttle car, but the switching time of current four-way shuttle car switching device direction is long, has reduced conveying efficiency.
Disclosure of Invention
In order to solve the technical problem, the utility model provides a novel quadriversal shuttle to reach and make the shuttle commutate fast on automatic stereoscopic warehouse tunnel, improve the purpose of the efficiency of storage cargo handling.
The utility model discloses the technical scheme who uses does: a novel four-way shuttle is applied to an automatic stereoscopic warehouse and comprises a shuttle body, a control system, a driving device, a reversing device, a telescopic fork device and a battery component, wherein the control system is arranged on the shuttle body; the reversing device comprises an X-axis driving wheel, a Y-axis driving wheel and a hydraulic lifting oil cylinder for controlling the lifting of the X-axis driving wheel or the Y-axis driving wheel; the telescopic fork device comprises an objective table, a telescopic fork and a telescopic fork motor.
Further, the control system comprises a master controller, an RFID reader-writer, a wireless communication module and a singlechip; the RFID reader-writer is connected with the single chip microcomputer to assist the shuttle car to be positioned in the three-dimensional intelligent goods shelf; the wireless communication module is used for receiving a task instruction sent by the management system through a network and sending position information of the four-way shuttle to the management system; the single chip microcomputer is used for analyzing the task instruction and controlling the driving device, the reversing device and the goods shrinkage fork device according to the instruction.
Further, the driving device comprises a first driving unit and a second driving unit; the first driving unit is arranged on the vehicle body and used for enabling the shuttle vehicle to move along the X-axis direction; the second driving unit is arranged on the vehicle body and used for enabling the shuttle vehicle to move along the Y-axis direction.
Furthermore, the first driving unit comprises two X-axis driving wheels, two X-axis driven wheels and a first driving gear motor, the two X-axis driving wheels and the two X-axis driven wheels are respectively arranged on two sides of the shuttle vehicle body along the X-axis direction, and each side is respectively provided with one X-axis driving wheel and one X-axis driven wheel.
The first driving gear motor is connected with the two X-axis driving wheels through a first transverse rotating shaft, and the two X-axis driven wheels are connected through a second transverse rotating shaft.
The first transverse rotating shaft and the second transverse rotating shaft penetrate through the side wall of the shuttle car along the X-axis direction.
Furthermore, the second driving unit comprises two Y-axis driving wheels, two Y-axis driven wheels and a second driving gear motor, the two Y-axis driving wheels and the two Y-axis driven wheels are respectively arranged on two sides of the shuttle vehicle body along the Y-axis direction, and each side is respectively provided with one Y-axis driving wheel and one Y-axis driven wheel.
The second driving speed reduction motor is connected with the two Y-axis driving wheels through a first longitudinal rotating shaft, and the two Y-axis driven wheels are connected through a second longitudinal rotating shaft.
The first longitudinal rotating shaft and the second longitudinal rotating shaft penetrate through the side wall of the shuttle car along the Y-axis direction.
Further, the first driving speed reduction motor and the second driving speed reduction motor are both connected with the single chip microcomputer, the first driving unit is driven by the first driving speed reduction motor under the control of the single chip microcomputer, and the second driving unit is driven by the second driving speed reduction motor under the control of the single chip microcomputer.
Further, when the first driving unit walks, the second driving unit is in a suspended state; when the second driving unit walks, the first driving unit is in a suspended state.
Furthermore, the reversing device comprises an X-axis driving wheel, a Y-axis driving wheel and a hydraulic lifting oil cylinder for controlling the lifting of the X-axis driving wheel or the Y-axis driving wheel; the four-way shuttle vehicle body is provided with a chute for lifting the transverse rotating shaft or the longitudinal rotating shaft; and an output shaft of the hydraulic lifting oil cylinder is connected with a transverse rotating shaft or a longitudinal rotating shaft arranged in the sliding chute.
Furthermore, a hydraulic station is arranged on the vehicle body, the hydraulic station is connected with the single chip microcomputer, and the hydraulic lifting cylinder is controlled to work by receiving an instruction of the single chip microcomputer.
Furthermore, the telescopic fork device comprises an object stage, a telescopic fork and a telescopic fork motor, wherein the telescopic fork motor drives the fork to stretch through an instruction receiving control device, and the work of warehousing, ex-warehouse and the like of goods is completed.
Further, the objective table is a plate-shaped structure, the telescopic fork motor is arranged below the objective table and is connected with the driving rotating shaft through a gear wheel and a single-sided synchronous belt, and the driving rotating shaft is connected with the telescopic fork through a pinion, a double-sided synchronous belt and a rack to control the motion of the telescopic fork.
Furthermore, a photoelectric sensor is arranged on the vehicle body and connected with the single chip microcomputer, and the photoelectric sensor is used for collecting position information of the four-way shuttle vehicle on a roadway, so that the shuttle vehicle can convey cargos to a specified position.
Furthermore, the four-way shuttle vehicle is also provided with a battery component, and the battery component is connected with the control system and used for supplying power to the control system.
Further, the first driving speed reduction motor, the second driving speed reduction motor and the telescopic fork motor are all direct-current brushless servo motors.
Compared with the prior art, the utility model discloses following beneficial effect has: the utility model provides a novel four-way shuttle, which is provided with a first driving unit and a second driving unit to drive a vehicle body to move in the X-axis and Y-axis directions; the novel four-way shuttle vehicle is reversed in the X-axis direction and the Y-axis direction by arranging the hydraulic lifting oil cylinder device, the hydraulic lifting oil cylinder device has a simple structure and is reliable in operation, a speed reducing device can be omitted when the hydraulic lifting oil cylinder device is used for realizing reciprocating motion, no transmission gap exists, and the motion is stable; when the X-axis driving wheel is in a moving state, the Y-axis driving wheel is in a suspended state, when the novel four-way shuttle car needs to be rotated to the Y-axis direction from the X-axis direction, the X-axis driving wheel is lifted through the hydraulic lifting oil cylinder to be in a suspended state, the Y-axis driving wheel lands at the moment, the second driving speed reduction motor drives the car body to move along the Y-axis direction, and the reversing of the shuttle car from the X-axis direction to the Y-axis direction is realized; and the device can realize reversing of the four-way shuttle vehicle in the walking process, improves the working efficiency and greatly reduces the operation waiting time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of the internal structure of a novel four-way shuttle in the embodiment of the present invention.
Fig. 2 is a schematic front view of the novel four-way shuttle in the embodiment of the present invention.
Fig. 3 is a schematic structural view of a fork extending device of the novel four-way shuttle in the embodiment of the present invention.
Fig. 4 is a schematic view of a partial structure of a fork extending device of a novel four-way shuttle in an embodiment of the present invention.
Fig. 5 is a schematic view of a control system of a novel four-way shuttle in an embodiment of the present invention.
The corresponding part names indicated by the numbers and letters in the drawings: 100-a vehicle body; 200-a first drive unit; 201-X axis drive wheels; 202-X axis driven wheel; 203-a first drive gear motor; 204-a first transverse axis of rotation; 205-a second transverse axis of rotation; 300-a second drive unit; 301-Y axis drive wheel; a 302-Y axis driven wheel; 303-a second drive gear motor; 304-a first longitudinal axis of rotation; 305-a second longitudinal axis of rotation; 400-hydraulic lift cylinder; 500-a chute; 600-an object stage; 610-a telescopic fork motor; 620-telescopic forks; 630-driving the rotating shaft; 640-a bull gear; 650-single-sided synchronous belt; 660-pinion gear; 670-double-sided synchronous belt; 680-a rack; 690-driven rotating shaft; 700-a control system; 710-a master controller; 720-wireless communication module; 730-an RFID reader; 740-a singlechip; 750-a photosensor; 800-vertical seat bearing; 810-gear tensioning device.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1 and 5, the novel four-way shuttle car comprises a car body 100, wherein the car body 100 is provided with a control system 700, a driving device, a reversing device, a telescopic fork device and a battery component.
The driving device includes: the first driving unit 200 is disposed on the vehicle body 100 and is used for driving the vehicle body 100 to move along the X-axis direction, and the second driving unit 300 is disposed on the vehicle body 100 and is used for driving the vehicle body 100 to move along the Y-axis direction.
The first driving unit 200 includes: two X-axis driving wheels 201, two X-axis driven wheels 202 and a first driving speed reduction motor 203; the two X-axis driving wheels 201 and the two X-axis driven wheels 202 are respectively arranged on two sides of the vehicle body 100 along the X-axis direction, and each side is provided with one X-axis driving wheel 201 and one X-axis driven wheel 202; the first driving speed reducing motor 203 is connected with the two X-axis driving wheels 201 through a first transverse rotating shaft 204, that is, the first transverse rotating shaft 204 penetrates through the side wall of the vehicle body 100 along the X-axis direction and is connected with the X-axis driving wheels 201 at two ends, and the second transverse rotating shaft 205 penetrates through the side wall of the shuttle vehicle along the X-axis direction and is connected with the X-axis driven wheels 202 at two ends; the first horizontal rotating shaft 204 is driven to rotate by the first speed reduction motor 203, so that the X-axis driving wheel 201 rotates, and the vehicle body 100 is driven to move along the X-axis direction.
The second driving unit 300 includes: two Y-axis driving wheels 301, two Y-axis driven wheels 302 and a second driving gear motor 303; the two Y-axis driving wheels 301 and the two Y-axis driven wheels 302 are respectively arranged on two sides of the vehicle body 100 along the Y-axis direction, and each side is provided with one Y-axis driving wheel 301 and one Y-axis driven wheel 302; the second driving gear motor 303 is connected with the two Y-axis driving wheels 301 through a first longitudinal rotating shaft 304, that is, the first longitudinal rotating shaft 304 penetrates through the side wall of the vehicle body 100 along the Y-axis direction and is connected with the Y-axis driving wheels 301 at two ends, and the second longitudinal rotating shaft 305 penetrates through the side wall of the shuttle vehicle along the Y-axis direction and is connected with the Y-axis driven wheels 302 at two ends; the second gear motor 303 drives the first longitudinal rotating shaft 304 to rotate, so that the Y-axis driving wheel 301 rotates, and the vehicle body 100 is driven to move along the Y-axis direction.
The axial directions of the first driving unit 200 and the second driving unit 300 are perpendicular to each other.
The reversing device comprises: the lifting device comprises an X-axis driving wheel 201, a Y-axis driving wheel 301 and a hydraulic lifting oil cylinder 400 for controlling the lifting of the X-axis driving wheel 201 or the Y-axis driving wheel 301, wherein a sliding chute 500 for lifting a transverse rotating shaft or a longitudinal rotating shaft is arranged on a vehicle body 100, and an output shaft of the hydraulic lifting oil cylinder 400 is directly connected with the transverse rotating shaft or the longitudinal rotating shaft arranged on the sliding chute 500;
the vehicle body 100 is provided with a hydraulic station, the hydraulic station is connected with the single chip microcomputer 740, and the hydraulic lifting cylinder 400 is controlled to work by receiving the instruction of the single chip microcomputer 740.
The control system includes: the system comprises a master controller 710, a wireless communication module 720, an RFID reader 730 and a single chip microcomputer 740, wherein the wireless communication module 720 is used for receiving a task instruction sent by a management system through a network and sending position information of the four-way shuttle to the management system; the single chip microcomputer 740 is used for analyzing the task instruction and controlling the driving device, the reversing device and the goods shrinkage fork device according to the instruction.
As shown in fig. 2, a photoelectric sensor 750 is arranged on the vehicle body 100, the photoelectric sensor 750 is connected with a single chip microcomputer 740, the photoelectric sensor 750 is used for collecting the position of the shuttle vehicle on the track, the photoelectric sensor 750 transmits the acquired position information of the shuttle vehicle to a master controller 710 of an upper computer through the single chip microcomputer 740 and a wireless communication module 720, and the master controller 710 further issues a task instruction to the shuttle vehicle according to the position of the shuttle vehicle; when the shuttle car runs in the X-axis direction, the X-axis driving wheel 201 of the shuttle car is in a grounded state, the Y-axis driving wheel 301 is in a suspended state, the first driving speed reduction motor 203 works to drive the X-axis driving wheel 201 of the shuttle car to drive the car body 100 to move in the X-axis direction; when the four-way shuttle car needs to change the lane from the X-axis direction to the Y-axis direction, the photoelectric sensor 750 senses that the shuttle car is at the Y-axis direction inlet position, information is transmitted to the single chip microcomputer 740, the single chip microcomputer 740 transmits a task instruction to the hydraulic station, the hydraulic station controls the work of the hydraulic lifting oil cylinder 400 under the received instruction, at the moment, the hydraulic lifting oil cylinder 400 works, the transverse rotating shaft drives the X-axis driving wheel 201 to move upwards along with the movement direction of the output shaft of the hydraulic lifting oil cylinder 400, the X-axis driving wheel 201 is in a suspended state, at the moment, the Y-axis driving wheel 301 lands, the second driving speed reduction motor 303 works to drive the Y-axis driving wheel 301 of the shuttle car, and further drives the car body 100 to move along the Y-axis direction; the four-way shuttle vehicle completes the switching from the X-axis direction to the Y-axis direction; when the four-way shuttle car needs to change the lane from the Y-axis direction to the X-axis direction, the photoelectric sensor 750 senses that the shuttle car is at the inlet position of the X-axis direction, information is transmitted to the single chip microcomputer 740, the single chip microcomputer 740 transmits a task instruction to the hydraulic station, the hydraulic station controls the work of the hydraulic lifting oil cylinder 400 under the received instruction, at the moment, the hydraulic lifting oil cylinder 400 works, the transverse rotating shaft drives the X-axis driving wheel 201 to move downwards along with the movement direction of the output shaft of the hydraulic lifting oil cylinder 400, at the moment, the X-axis driving wheel 201 is in a grounding state, the Y-axis driving wheel 301 is in a suspension state, the first driving speed reduction motor 203 works, the X-axis driving wheel 201 of the shuttle car is driven, and the car body 100 is driven to move along the X-axis direction; the four-way shuttle completes the switching from the Y-axis direction to the X-axis direction.
As shown in fig. 3 and 4, the fork extending and retracting device includes a carrier 600, an extending and retracting fork motor 610, and an extending and retracting fork 620, wherein the carrier 600 is a plate-shaped structure for placing goods; the telescopic fork motor 620 is arranged below the objective table 600, the telescopic fork motor 620 is connected with the driving rotating shaft 630 through a large gear 640 and a single-sided synchronous belt 650, the driving rotating shaft 630 is connected with the telescopic fork 620 through a small gear 660, a double-sided synchronous belt 670 and a rack 680, and the telescopic fork 620 is controlled to move; the telescopic fork motor 620 drives the driving rotating shaft 630 to rotate through the large gear 640 and the single-sided synchronous belt 650, the driving rotating shaft 630 transmits the motion to the pinions 660 at two ends, the motion of the pinions 660 is transmitted to the rack 680 through the double-sided synchronous belt 670, and the rack 680 is connected with the telescopic fork 620, so that the telescopic fork 620 is driven to finish the goods delivery, delivery and storage operations; in order to ensure the stability of the telescopic fork device in the movement process, a plurality of driven rotating shafts 690 are arranged, the driving rotating shafts 630 and the driven rotating shafts 690 are assisted to transfer movement better, the driving rotating shafts 630 and the driven rotating shafts 690 are sleeved on a vertical seat bearing 800, and the vertical seat bearing 800 is fixedly connected with the vehicle body 100; in order to ensure the stability and accuracy of the gear transmission, a plurality of gear tensioners 810 are provided, and the gear tensioners are fixedly connected with the vehicle body 100.
The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent principle changes made by the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the patent protection scope of the present invention.
Claims (6)
1. A novel four-way shuttle is applied to an automatic stereoscopic warehouse and is characterized in that the shuttle comprises a vehicle body, a control system, a driving device, a reversing device, a telescopic fork device and a battery component; the control system is arranged on the shuttle vehicle body, the driving device comprises a first driving unit and a second driving unit, the first driving unit and the second driving unit are both arranged on the shuttle vehicle body, and the axial directions of the first driving unit and the second driving unit are mutually vertical; the reversing device comprises an X-axis driving wheel, a Y-axis driving wheel and a hydraulic lifting oil cylinder for controlling the lifting of the X-axis driving wheel or the Y-axis driving wheel; the telescopic fork device comprises an objective table, a telescopic fork and a telescopic fork motor.
2. The novel four-way shuttle according to claim 1, wherein said control system comprises a master controller, an RFID reader/writer, a wireless communication module, and a single chip microcomputer; the RFID reader-writer is connected with the single chip microcomputer to assist the shuttle car to be positioned in the three-dimensional intelligent goods shelf; the wireless communication module is used for receiving a task instruction sent by the management system through a network and sending position information of the four-way shuttle to the management system; the single chip microcomputer is used for analyzing the task instruction and controlling the driving device, the reversing device and the goods shrinkage fork device according to the instruction.
3. The novel four-way shuttle vehicle as claimed in claim 1, wherein said first driving unit comprises two X-axis driving wheels, two X-axis driven wheels and a first driving gear motor, said two X-axis driving wheels and said two X-axis driven wheels are respectively disposed on two sides of said shuttle vehicle body along the X-axis direction, and one X-axis driving wheel and one X-axis driven wheel are respectively disposed on each side; the first driving speed reduction motor is connected with the two X-axis driving wheels through a first transverse rotating shaft, and the two X-axis driven wheels are connected through a second transverse rotating shaft; the first transverse rotating shaft and the second transverse rotating shaft penetrate through the side wall of the shuttle car along the X-axis direction.
4. The novel four-way shuttle vehicle as claimed in claim 1, wherein said second driving unit comprises two Y-axis driving wheels, two Y-axis driven wheels and a second driving gear motor, said two Y-axis driving wheels and said two Y-axis driven wheels are respectively disposed on two sides of said shuttle vehicle body along the Y-axis direction, and one Y-axis driving wheel and one Y-axis driven wheel are respectively disposed on each side; the second driving speed reduction motor is connected with the two Y-axis driving wheels through a first longitudinal rotating shaft, and the two Y-axis driven wheels are connected through a second longitudinal rotating shaft; the first longitudinal rotating shaft and the second longitudinal rotating shaft penetrate through the side wall of the shuttle car along the Y-axis direction.
5. The novel four-way shuttle according to claim 1, wherein the telescopic fork motor is arranged at the bottom of the objective table, the telescopic fork motor is connected with the driving rotating shaft through a large gear and a single-sided synchronous belt, and the driving rotating shaft is connected with the telescopic fork through a small gear, a double-sided synchronous belt and a rack to control the movement of the telescopic fork.
6. The novel four-way shuttle vehicle as claimed in claim 2, wherein a photoelectric sensor is arranged on the vehicle body, the photoelectric sensor is connected with the single chip microcomputer, and the photoelectric sensor is used for collecting position information of the four-way shuttle vehicle on a roadway, so that the shuttle vehicle can transport goods to a specified position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022457966.1U CN213893914U (en) | 2020-10-29 | 2020-10-29 | Novel four-way shuttle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022457966.1U CN213893914U (en) | 2020-10-29 | 2020-10-29 | Novel four-way shuttle |
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| CN213893914U true CN213893914U (en) | 2021-08-06 |
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| CN202022457966.1U Active CN213893914U (en) | 2020-10-29 | 2020-10-29 | Novel four-way shuttle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115072233A (en) * | 2022-06-07 | 2022-09-20 | 鼎华智慧物流设备(广州)有限公司 | Four-way shuttle |
| CN115676196A (en) * | 2022-09-07 | 2023-02-03 | 广州本金机电设备有限公司 | Movable vacuum stacking device and using method thereof |
-
2020
- 2020-10-29 CN CN202022457966.1U patent/CN213893914U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115072233A (en) * | 2022-06-07 | 2022-09-20 | 鼎华智慧物流设备(广州)有限公司 | Four-way shuttle |
| CN115072233B (en) * | 2022-06-07 | 2023-12-22 | 鼎华智慧物流设备(广州)有限公司 | Four-way shuttle |
| CN115676196A (en) * | 2022-09-07 | 2023-02-03 | 广州本金机电设备有限公司 | Movable vacuum stacking device and using method thereof |
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